%0 Journal Article
%T Proposition of generic validation criteria using stereo-vision for on-road obstacle detection
%J International journal of robotics and automation (Calgary)
%D 2014
%A Labayrade, Raphaël
%A Perrollaz, Mathias
%A Gruyer, Dominique
%A Lambert, Alain
%A Aubert, Didier
%V 29
%N 1
%P 65-87
%X Real-time obstacle detection is an essential function for the future of Advanced Driver Assistance Systems (ADAS), but its applications to the driving safety require a very high reliability: the detection rate must be high, while the false detection rate must remain extremely low. Such features seem antinomic for obstacle detection systems, especially when using a single sensor. Multi-sensor fusion is often considered as a mean to reduce this limitation. In this paper, we propose to use stereo-vision as a post-process to improve the reliability of any obstacle detection system, by reducing the number of false positives. Our algorithm, which is both generic and real-time confirms detections by locally using the stereoscopic data. We evaluated and validated our approach with an initial detection based on a vision system and a laser scanner. The evaluation dataset is real on-road data and contains more than 20000 images.<p /> <p>Language: en</p>
%G en
%I Acta Press
%@ 0826-8185
%U http://dx.doi.org/10.2316/Journal.206.2014.1.206-3765